Name
Abstract | ||
|---|---|---|
The macroscopic geometric shape of a hyper-redundant manipulator can be described by a curve which is called the reference or backbone curve (BBC). In this paper, a discrete model with compliance is developed for the BBC that is a practical approximation to a continuous elastic cord. Based on the proposed model, kinematic redundancy is resolved through shape optimization: minimizing the elastic potential energy of the BBC. The formulation introduced here is general and can be efficiently used for the configuration control of hyper-redundant manipulators. Moreover, the proposed discrete model is well suited for a class of variable-geometry-truss (VGT) manipulators that are made up of double-octahedral modules. The effectiveness of the model is verified by numerical simulations and hardware experiments |
Year | DOI | Venue |
|---|---|---|
1997 | 10.1109/ROBOT.1997.620033 | Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference |
Keywords | Field | DocType |
computerised control,industrial manipulators,manipulator kinematics,optimisation,backbone curve,configuration control,continuous elastic cord,discrete model,elastic potential energy,hyper-redundant manipulators,kinematic redundancy,macroscopic geometric shape,shape optimization,variable-geometry-truss manipulators | Kinematics,Computer simulation,Control theory,Control engineering,Potential energy,Solid modeling,Shape optimization,Elastic energy,Geometric shape,Engineering,Robot | Conference |
Volume | Issue | ISSN |
1 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-3612-7 | 4 | 0.64 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kourosh E. Zanganeh | 1 | 131 | 16.04 |
| Regina S. K. Lee | 2 | 4 | 0.64 |
| Peter C. Hughes | 3 | 4 | 0.98 |